diff --git a/.gitignore b/.gitignore
new file mode 100644
index 0000000..f1cecd8
--- /dev/null
+++ b/.gitignore
@@ -0,0 +1,4 @@
+/build/*
+/install/*
+/log/*
+/include/*
\ No newline at end of file
diff --git a/include/diffdrive_arduino/diffdrive_arduino.h b/include/diffdrive_arduino/diffdrive_arduino.h
index 296f708..e1650bc 100644
--- a/include/diffdrive_arduino/diffdrive_arduino.h
+++ b/include/diffdrive_arduino/diffdrive_arduino.h
@@ -4,36 +4,34 @@
 #include <cstring>
 #include "rclcpp/rclcpp.hpp"
 
-#include "hardware_interface/base_interface.hpp"
 #include "hardware_interface/system_interface.hpp"
 #include "hardware_interface/handle.hpp"
 #include "hardware_interface/hardware_info.hpp"
 #include "hardware_interface/types/hardware_interface_return_values.hpp"
-#include "hardware_interface/types/hardware_interface_status_values.hpp"
+#include "rclcpp_lifecycle/state.hpp"
 
 #include "config.h"
 #include "wheel.h"
 #include "arduino_comms.h"
 
-
 using hardware_interface::return_type;
 
-class DiffDriveArduino : public hardware_interface::BaseInterface<hardware_interface::SystemInterface>
+class DiffDriveArduino : public hardware_interface::SystemInterface
 {
 
 
 public:
   DiffDriveArduino();
 
-  return_type configure(const hardware_interface::HardwareInfo & info) override;
+  CallbackReturn on_init(const hardware_interface::HardwareInfo & info) override;
 
   std::vector<hardware_interface::StateInterface> export_state_interfaces() override;
 
   std::vector<hardware_interface::CommandInterface> export_command_interfaces() override;
 
-  return_type start() override;
+  CallbackReturn on_activate(const rclcpp_lifecycle::State & previous_state) override;
 
-  return_type stop() override;
+  CallbackReturn on_deactivate(const rclcpp_lifecycle::State & previous_state) override;
 
   return_type read() override;
 
diff --git a/include/diffdrive_arduino/fake_robot.h b/include/diffdrive_arduino/fake_robot.h
index 3f2e355..e4da062 100644
--- a/include/diffdrive_arduino/fake_robot.h
+++ b/include/diffdrive_arduino/fake_robot.h
@@ -4,34 +4,33 @@
 
 #include "rclcpp/rclcpp.hpp"
 
-#include "hardware_interface/base_interface.hpp"
 #include "hardware_interface/system_interface.hpp"
 #include "hardware_interface/handle.hpp"
 #include "hardware_interface/hardware_info.hpp"
 #include "hardware_interface/types/hardware_interface_return_values.hpp"
-#include "hardware_interface/types/hardware_interface_status_values.hpp"
+#include "rclcpp_lifecycle/state.hpp"
 
 #include "config.h"
 #include "wheel.h"
 
 using hardware_interface::return_type;
 
-class FakeRobot : public hardware_interface::BaseInterface<hardware_interface::SystemInterface>
+class FakeRobot : public hardware_interface::SystemInterface
 {
 
 
 public:
   FakeRobot();
 
-  return_type configure(const hardware_interface::HardwareInfo & info) override;
+  CallbackReturn on_init(const hardware_interface::HardwareInfo & info) override;
 
   std::vector<hardware_interface::StateInterface> export_state_interfaces() override;
 
   std::vector<hardware_interface::CommandInterface> export_command_interfaces() override;
 
-  return_type start() override;
+  CallbackReturn on_activate(const rclcpp_lifecycle::State & previous_state) override;
 
-  return_type stop() override;
+  CallbackReturn on_deactivate(const rclcpp_lifecycle::State & previous_state) override;
 
   return_type read() override;
 
diff --git a/src/diffdrive_arduino.cpp b/src/diffdrive_arduino.cpp
index 701c48a..0e0d7ae 100644
--- a/src/diffdrive_arduino.cpp
+++ b/src/diffdrive_arduino.cpp
@@ -5,19 +5,16 @@
 
 
 
-
 DiffDriveArduino::DiffDriveArduino()
     : logger_(rclcpp::get_logger("DiffDriveArduino"))
 {}
 
 
-
-
-
-return_type DiffDriveArduino::configure(const hardware_interface::HardwareInfo & info)
+CallbackReturn DiffDriveArduino::on_init(const hardware_interface::HardwareInfo & info)
 {
-  if (configure_default(info) != return_type::OK) {
-    return return_type::ERROR;
+  if (hardware_interface::SystemInterface::on_init(info) != CallbackReturn::SUCCESS)
+  {
+    return CallbackReturn::ERROR;
   }
 
   RCLCPP_INFO(logger_, "Configuring...");
@@ -41,8 +38,7 @@ return_type DiffDriveArduino::configure(const hardware_interface::HardwareInfo &
 
   RCLCPP_INFO(logger_, "Finished Configuration");
 
-  status_ = hardware_interface::status::CONFIGURED;
-  return return_type::OK;
+  return CallbackReturn::SUCCESS;
 }
 
 std::vector<hardware_interface::StateInterface> DiffDriveArduino::export_state_interfaces()
@@ -72,7 +68,7 @@ std::vector<hardware_interface::CommandInterface> DiffDriveArduino::export_comma
 }
 
 
-return_type DiffDriveArduino::start()
+CallbackReturn DiffDriveArduino::on_activate(const rclcpp_lifecycle::State & /*previous_state*/)
 {
   RCLCPP_INFO(logger_, "Starting Controller...");
 
@@ -81,17 +77,14 @@ return_type DiffDriveArduino::start()
   // arduino.setPidValues(14,7,0,100);
   arduino_.setPidValues(30, 20, 0, 100);
 
-  status_ = hardware_interface::status::STARTED;
-
-  return return_type::OK;
+  return CallbackReturn::SUCCESS;
 }
 
-return_type DiffDriveArduino::stop()
+CallbackReturn DiffDriveArduino::on_deactivate(const rclcpp_lifecycle::State & /*previous_state*/)
 {
   RCLCPP_INFO(logger_, "Stopping Controller...");
-  status_ = hardware_interface::status::STOPPED;
 
-  return return_type::OK;
+  return CallbackReturn::SUCCESS;
 }
 
 hardware_interface::return_type DiffDriveArduino::read()
diff --git a/src/fake_robot.cpp b/src/fake_robot.cpp
index 9208f9f..8b023f7 100644
--- a/src/fake_robot.cpp
+++ b/src/fake_robot.cpp
@@ -10,10 +10,11 @@ FakeRobot::FakeRobot()
 
 
 
-return_type FakeRobot::configure(const hardware_interface::HardwareInfo & info)
+CallbackReturn FakeRobot::on_init(const hardware_interface::HardwareInfo & info)
 {
-  if (configure_default(info) != return_type::OK) {
-    return return_type::ERROR;
+  if (hardware_interface::SystemInterface::on_init(info) != CallbackReturn::SUCCESS)
+  {
+    return CallbackReturn::ERROR;
   }
 
   RCLCPP_INFO(logger_, "Configuring...");
@@ -33,8 +34,7 @@ return_type FakeRobot::configure(const hardware_interface::HardwareInfo & info)
 
   RCLCPP_INFO(logger_, "Finished Configuration");
 
-  status_ = hardware_interface::status::CONFIGURED;
-  return return_type::OK;
+  return CallbackReturn::SUCCESS;
 }
 
 std::vector<hardware_interface::StateInterface> FakeRobot::export_state_interfaces()
@@ -64,20 +64,18 @@ std::vector<hardware_interface::CommandInterface> FakeRobot::export_command_inte
 }
 
 
-return_type FakeRobot::start()
+CallbackReturn FakeRobot::on_activate(const rclcpp_lifecycle::State & /*previous_state*/)
 {
   RCLCPP_INFO(logger_, "Starting Controller...");
-  status_ = hardware_interface::status::STARTED;
 
-  return return_type::OK;
+  return CallbackReturn::SUCCESS;
 }
 
-return_type FakeRobot::stop()
+CallbackReturn FakeRobot::on_deactivate(const rclcpp_lifecycle::State & /*previous_state*/)
 {
   RCLCPP_INFO(logger_, "Stopping Controller...");
-  status_ = hardware_interface::status::STOPPED;
 
-  return return_type::OK;
+  return CallbackReturn::SUCCESS;;
 }
 
 hardware_interface::return_type FakeRobot::read()